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JOURNAL OF INFORMATION AND COMMUNICATION TECHNOLOGIES, VOLUME 2, ISSUE 11, DECEMBER 2012

Performance Enhancement of High Resolution Multiple Widebandand Nonstationary Source Localization with Unknown Number of Sources
Sandeep Santosh and O.P.Sahu

Abstract- In this paper, Performance Evaluation of high-resolution multiple wideband and nonstationary source localization using a sensor array is presented. The sensor arrays received signals are first converted into timefrequency domain via short-time Fourier transform (STFT)and it is found that a set of power spectrum matrices at different time instants havethe joint diagonalization structure in each frequency bin. Using such a joint diagonalization structure, a novel cost function is designed and a new spatial spectrum for direction of arrival(DOA) estimation is obtained.The algorithm in this paper obtains the DOA estimates via one dimensional (1-D) search instead of multidimensional search.Its computational complexity is much lower than the ML method.For this algorithm ,it is not necessary to determine the number of sources in advance unlike the subspace based high- resolution DOA estimation techniques .The algorithm used in this paper is robust to the effects of reverberation caused by multipath reflections. It is suitable for multiple acoustic source localization in a reverberant room. Index Terms- Direction of Arrival(DOA) Estimation, Nonstationarity, Source localization, Joint diagonalization, Timedelay estimation.

Sandeep Santosh,Astt. Prof., Department of Electronics and Communication Engineering , O.P.Sahu ,Prof., Department of Electronics and Communication Engineering, National Institute of Technology ,Kurukshetra, INDIA

INTRODUCTION

The received signals of the sensor array are first converted into time-frequency domain via shorttime Fourier transform(STFT) and we find that set of short time power spectrum matrices at different time instants have the joint diagonalization structure in each frequency bin. Based on such joint diagonalization structure, a novel cost function is designed and a new spatial spectrum for direction of arrival (DOA) estimation at hand is derived. Compared to maximum-likelihood (ML) method with high computational complexity ,the proposed algorithm obtains the DOA estimates via one dimensional (1-D)search instead of multidimensional search. Therefore, its computational complexity is much lower than

ML method .Unlike the subspace- based highresolution DOA estimation techniques ,it is not necessary to determine the number of sources in advance for the proposed algorithm. The proposed method is robust to the effects of reverberation caused by multipath reflections. Hence, it is suitable for multiple acoustic source localization in a reverberant room. The results of numerical simulations and experiments in a real room with a moderate reverberation are providedto demonstrate the good performance of the proposed approach Source localization has been an important topic that arises in many fields such as sonar, radar, communications, speechprocessing,oceanography and navigation[1],[2].Numerous high-resolution

JOURNAL OF INFORMATION AND COMMUNICATION TECHNOLOGIES, VOLUME 2, ISSUE 11, DECEMBER 2012

algorithms like maximum-likelihood (ML) method, MUSIC,ESPIRIT and subspace fitting method have been developed for estimating the direction of arrival (DOA) of narrowband sources. The energy of narrowband source is concentrated in a frequency band which is much smaller than the centre frequency. However, the wideband signals are widely encountered in many applications such as high data rate communications, passive sonar, seismic signal processing and speech signal processing. Unfortunately, these DOA estimation methods designed for narrowband signals are no longer applicable to wideband sources since the phase difference between the sensor outputs is not only dependent on DOA alone but also depends on temporal frequency with a wide range[7]. A variety of techniques have been proposed to deal with the wideband source localization problem. The ML method is extended to wideband situations in [8] and [9].Since the ML method involves to maximize the likelihood function with high nonlinearity and nonconvexity, it requires multidimensional search and its computational complexity is high. A class of representative high resolution DOA estimation approaches for wideband sources is Coherent signal subspace method(CSSM)[7].CSSM converts the wideband signal subspaces into predefined narrowband subspace by focusing matrices and subsequently the narrowband subspace based DOA estimation methods like MUSIC can be applied. However, CSSM requires initial focusing angles which are not far from true DOAs to find such focusing matrices , and the estimation performance of CSSM is sensitive to these initial angles. There are two intrinsic limitations of subspace decomposition based methods. One limitation is that they require the number of sources to be known or to be exactly estimated in advance .The information theoretic criteria such as AIC and MDL are most important methods for determining the number of sources. In practice, the rate of correctly detecting the number of sources can be somewhat low with moderate

signal to-noise ratio (SNR)and its performance may not be satisfying. The other drawback of subspace based methods is that they demand the number of sources be strictly less than the number of sensors. Two other classes of source localization approaches are based on time-delay estimation(TDE). One class is composed of two stages :first ,estimate the time delays among spatially separated sensors, and then localize the sources by exploiting the estimated time delays and the array geometric information.[14],[18]. A typical and popular TDE algorithm in practice is the generalized cross-correlation (GCC) method proposed by Knapp and Carter. An extreme example of GCC is the phase transform GCC where only the crosspower-spectrum phase is used for TDE.GCC has good performance in moderate SNR and nonreverberant environment. The performance of GCC will degrade when multipath reflections and reverberations appear. The GCC method can only obtain the integer part of time-delay. All of the source localization algorithms aforementioned assume a stationary signal model .However, nonstationary signals are frequently encountered in many fields such as acoustic and speech signal processing, seismic signal processing etc. One important technique widely used in many practical applications e.g videoconferencing, hands-free voice communication, acoustic targetdetection and surveillance is the acoustic source localization using microphone arrays. In speech enhancement ,separation etc, localization is also used to help to form a fixed beamforming to provide an initial guess for those separation and adaptive beamforming algorithms. Notice that the speech signals are nonstationary in nature . Therefore, it is expected that the performance of the localization algorithm will improve if the nonstationarity of signals is taken into account. We propose an efficient multiple wideband and nonstationary source localization algorithm by exploiting both the nonstationarity of the signals and the array geometric information. The proposed algorithm is based upon joint diagonalization structure of a set of short time power spectrum matrices at differenttime instants of each frequency bin. It can be used

JOURNAL OF INFORMATION AND COMMUNICATION TECHNOLOGIES, VOLUME 2, ISSUE 11, DECEMBER 2012

forquick and accurate multiple nonstationary source localization . A new spatial spectrum for multiple wideband and non-stationary source localization is proposed . The DOAs of the sources can be estimated by 1-D search of the spatial spectrum and multidimensional search is avoided. The computational complexity is greatly reduced compared with the ML method. The proposed algorithm is one stage i.e. it directly searches the DOAs over continuous location parameter space. Thus the proposed algorithm does not suffer the error accumulation problem. Unlike the subspace based methods, it is not necessary to determine the number of sources before computing the spatial spectrum. Most existent high-resolution DOA estimator demand that the number of sources must be strictly less than the number of sensors. However, it requires that the number of sensors is not less than number of sources for the proposed method. The simulation and experimental results validate that the proposed algorithm is robust to reverberation caused by multipath propagation effect. Therefore,it is especially suited for multiple speakers localization in a reverberant room.

where n is an attenuation factor due to propagation effects , zm(tc) is the additive white Gaussian noise and nm denotes propagation time delay from the mth sensor to the first sensor of the nth source which can be written as nm=(m-1)dcosn/v (2)

where v is the propagation speed of signals and 0n is the DOA of the nth source. The continuous signals are sampled at sampling frequency fs= 1/Ts. Then the discrete time received signals are , xm(t) = n=1Nsn(t-(m- 1)k cosn) + zm(t), m=1,2 ,.. ,M (3) where t denotes the discrete time index and k=fsd/v. (4)

is a constant. Note that the time-delay (m- 1)k cosnin (3)may be non integer multiples of sample period Ts , and sn(t-(m- 1)k cosnhere denotes the copy of sn(t) with fractional delay (m- 1)k cosn.

DATA MODEL

3 NEW MULTIPLE SOURCE


LOCALISATION ALGORITHM. 3.1 Short time Fourier Analysis of the Received Signals
It should be pointed out that most existing time delay and source location algorithms assume a stationary signal model . The speech signals are nonstationary in nature. The short-time Fourier Transform is adopted to process nonstationary acoustic signals. The short-time discrete time Fourier Transform of a signal s(t) is defined as , s(,t)==1Ts(t-)w()e-j (5)

The N statistically uncorrelated wideband and nonstationary sources impinge on a uniform linear array (ULA) of M sensors with intersensor spacing d. We further assume that the size of acoustic array is much smaller compared with the distance from sources to the array .Hence, a plane wave propagation model can be adopted .In sub-space based high resolution DOA estimators, N must be strictly less than M. In the proposed approach we only need to assume N M. In other words N can be equal to M for proposed method. Let the first sensor be the reference point. We use sn(tc) to represent the waveform of the nth source with tc denoting the continuous time index. Then the signal received by the mth sensor is , xm(tc) = n=1Nnsn(tcnm)+zm(tc)m=1,2 ,. ,M

where 02 is the digital frequency and j=1 is the imaginary unit and w() is an analysis window function with length T.

(1)

JOURNAL OF INFORMATION AND COMMUNICATION TECHNOLOGIES, VOLUME 2, ISSUE 11, DECEMBER 2012

Applying ST-DTFT on both sides of (3) and exploiting the linearity and time-shift properties of ST-DTFT ,we obtain, xm(,t) =n=1Nsn(,t)e 1,2,..,M
j(m-1)kcosn

[Rx(,t)]ij=E[xi(,t)xj*(,t)]1i,jM

(14)

+ zm( ,t) m= (6)

Stack the ST-DTFT domain data of M sensors into a vector, x(,t)=[x1(,t),..,xM(,t)]


T

It represents the short-time cross-power spectrum of the signals received by the ith and the jth sensors .Matrix Rx(,t) is referred to as short-time power spectrum matrix at time t and frequency . According to (10) we obtain, Rx(,t)=A()Rs(,t)AH()+Rz(,t) (15)

(7)

where the superscript T denotes transpose . We can express x(, t) as, x(,t)=n=1Nsn(,t)a(,n)+z(,t) (8)

Where N N matrix Rs(,t) = E[s(,t)sH (,t)] and the M M matrix Rz(,t)=E[z(,t) zH (,t)]are short time power spectrum matrices of sources and thenoises.

where a(,) is the array response vector in spatial frequency domain and is defined as a(,)=[1,e-jkcos,..,e-j(M-1)kcos]T The matrix formulation of (8) is, x(,t)=A()s(,t)+z(,t) (10) (9)

3.2Wideband MUSIC Method and Its Limits


The well known MUSIC method is a highresolution DOA estimation algorithm for narrowband sources and it is based on stationary signal model. The stationary assumption of MUSIC means that Rx(,t) is time invariant i.e. Rx(,t) = Rx().Under stationary assumption (15) is reduced to , Rx()=A()Rs()AH()+Rz() (16)

where s(, t)= [ s1(, t),.,sN(, t)]T and z(, t)= [ z1(, t),.,zM(, t)]T are the ST-DTFT data vectors of the source and noise respectively. The M N matrix , A()=[a(,1),..,a(,N)] (11)

Note that MUSIC method is based on white noise assumption .The eigen value decomposition (EVD) of Rx() is given by, Rx()=U()()UH() Where ()=diag{1(),2(),.,M()} (18) (17)

is the array manifold matrix in the spatial frequency domain .we need to discritize the frequency to obtain the short time discrete Fourier transform (ST-DFT) of a discrete signal s(t), s(,t)==1Ts(t-)w()e-j2/T (12)

Then the digital frequency is discrete i.e. = 2 /T where =0,1,.., T-1 is the discrete digital frequency index. The correlation matrix of the ST-DFT data vector x(, t) is, Rx(,t)=E[x(,t)xH(,t)] (13)

is a diagonal matrix with 1() 2() . M() 0 being the non negativeeigen values .The orthogonal matrix is given as , U()=[u1(),u2(),..,uM()] (19)

Where E[.] denotes the expectation and the superscript (.)H is the conjugate transpose. Since the (i,j )th element of matrix Rx(,t) is ,

Contains the M corresponding eigenvectors. Assume that the number of sources N isknown and N <M ,one can construct a basis of noise subspace Uz() by M-N eigenvectors corresponding to last M-N eigen values.

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Uz()=[uN+1(),,uM()]

(20)

aredistinct. We first omit the noise termin (15) and obtain , Rx(,t)=A()Rs(,t)AH() (24)

According to principle of MUSIC method, we obtain a(,n)Uz()UzH()aH(,n)=0 (21)

(24) can also be written as ,Rx (,t) = n=1NRsn(,t) a(,n) aH(,n) range(Rx(,t))=range(A()) (25)

We can design the following cost fnction for searching of n JMUSIC()==0T-1a(,)Uz()UzH() aH(,) (22) We referred (22) as wideband MUSIC method. The digital frequency index can be bounded as 1(T/2)-1.We can define the spatial spectrum of wideband MUSIC method as , PMUSIC()=1/ =1 aH(,)
T/2-1

In the presence of additive noise , the spectrum matrix should be replaced with noise removed spectrum matrix, Rx[nr](,t)=Rx(,t)-Rz(,t) (26)

a(,) Uz() UzH() (23)

Where Rz(,t) is the spectrum matrix of noise. If N< M and the additive noise is stationary and white ,the noise removed and noise spectrum matrices are given by , Rx [nr](,t)=Rx(,t)-Rz() Rz()=N+1Mq()uq()uqH() (27)

The DOA of the multiple sources can be estimated by searching for maxima of PMUSIC().The wideband MUSIC method has a high spatial resolution. It has two intrinsic limitations . 1) The number of sources must be less than the number of sensors. 2) The number of sources must be known or be accurately estimated in advance so that the noise space can be well determined . We will propose a new multiple wideband source localization algorithm which can overcome the drawbacks of wideband MUSIC method . The new algorithm is designed for nonstationary signals.

By further assuming a stationary sources model ,the noise removed spectrum matrx is given by Rx[nr]()=p=1Np()up()upH() (28)

3.3.2 Estimation of smoothed Short Time Power Spectrum Matrices We discuss here how to estimate the short time power-spectrum matrices Rx(,t) using the signals received by array sensors. It is desired to obtain K short-time power spectrum matrices {Rx(,tk)}k=1 K at K distinct time instants tk(k=1,2,K).Two consecutive frames are overlapped with 3T/4 samples. The short time power spectrum matrix at time tk can be estimated as, Rx^(,tk)=1/Qq=0Q-1x(,tk+qT/4)xH(,tk+qT/4) (29) tk+1=tk+TQ/4,k=1,2,.,K-1 Thus it requires, (30)

3.3 New Localization Algorithm with Unknown Number of Sources.


3.3.1 Joint Diagonalization Structure of Multiple Short-time Power spectrum Matrices For nonstationarysignals ,the short time power spectrum matrices Rx(,t) at differenttime t

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TQK/4+3T/4Nt

(31)

Where Nt is the number of snapshots .For given number of snapshots Ntand ST-DFT length T, the number of power spectrum matrices K and the number of successive frames Q should satisfy the constraint in (31). 3.3.3 A Novel Cost Function Derivation For the pth (p=1,2,.,N)source ,let us define a vector bp()which is orthogonal to space spanned by the array response vectors except for a(,p) i.e. bp() span{( a(,1 ),, a(,p-1 ), a(,p+1),a(,p+2),a(,N)} (31)b In other words,we have a (,n) bp() = { a (,p) bp() for n=p and 0 for np} (32) Rx (,t) bp()= n=1NRsn(,t) a(,n) H a (,n)bp()=dp(,t)a(,p) (33) Rx(,t)b()=d(,t)a(,) (34)
H H

suggests that the steering vector a(,p) can be identified as well .Since both b()and d() are nuisance parameters to be optimized ,it is difficult to use the cost function in (35) to search for DOAs directly. Thus the nuisance parameters should be reduced to obtain simple cost function of the interesting parameter only. The simplified cost function of only is given as , min J( G(,)) ,) = M max eig( GH(,)F() (37)

where max eig(.) denotes the maximum eigen value of matrix .Since F()is Hermitian and positive definite, the matrix GH(,)F() G(,)) is also Hermitian and positive definite. Hence all the eigen values of GH(,)F() G(,)) are real and positive where , F()=k=1KRxH(,tk)Rx(,tk) (38)

G(,) = [RxH(,t1) a(,)),.., RxH(,tK) a(,)] (39) M=a(,)aH(,) (40)

Here the subscript (.) denotes the MoorePenrose pseudoinverse. We obtain the cost function of only which has integrated all frequency components as , Min J () = =1T/2 GH(,)F()G(,))).
1

It is natural to propose the new cost function for searching for the azimuth in presence of noise , min J( , b(), d())= k=1K Rx(,tk) b() d(,tk) a(,) 2 (35) where . denotes the Euclidian norm, a(,) is the array response vector with parameter to be optimized and K 1 vector d() is d()=[d(,t1),,d(,tK)]T (36)

(M max eig( (41)

Therefore we can introduce a new spatial spectrum for wideband and non-stationary source localization: P()= 1/ M(T/2 -1) GH(,)F()G(,)). =1T/2
1

max eig( (42)

3.3.4Optimization Method for Minimizing the Cost Function In the proposed algorithm , we assume that K 2 , and the sources have distinct spectra at different time tk .Then we can identify thejoint diagonalization structure given in (24)which

Thus we can detect and estimate the DOAs by searching for the maxima of P().There is no need to determine the number of sources in advance in the proposed method. After plotting the spatial spectrum ,the number of sources can be determined by counting the number of peaks in P().

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3.3.5 Summary of the Proposed Algorithm The inputs are the signals received by the M sensors. The output is the DOAs of the sources and the number of sources. 1) Parameter selection : Choose an appropriate value of frame length T (STDFT) and select a suitable value of number of success frames Q. Here T determines the frequency resolution and T(Q+3)/4 relates to quasi-stationary period of sources. 2) Determine the number of short time power spectrum matrices K as in (31) . 3) Estimate the K short-time power spectrum matrices as in (29). 4) Calculate F() defined in (38). 5) Plot the spatial spectrum P() as in (42). 6) Detect and estimate DOAs by searching for maxima of P().

Span{Rxnr(}=span{Us()}

(48)

PRxnr()= Us ()( UsH() Us ()) UsH() (49) P()K=1=1/M(T/2 -1)- =1T/2 UsH()Us()a(,)
-1

aH(,) (50)

PRxnr()=UsH()Us ()=I- UzH() Uz() (51) P()K=1= =1T/2 a(,)=PMUSIC


-1

aH(,) UzH() Uz() (52)

It is clear that the wideband music spatial spectrum is a special case of the proposed spatial spectrum if the noise removed matrices are used . Hence the proposed approach is also applied to case of stationary sources.

4 SIMULATION RESULTS
Consider a ULA consisting of M=3 sensors with inter sensor spacing d=10cm.Two speech signals with sample rate fs=8 kHz and length of about 1 s are adopted as non stationary sources. The average power of the source n(n=1,2) is Psn= E [s2n(t)]. The average powers of the two sources are the same. Ps1 = Ps2. The SNR is defined as , SNR = 10 log10 ( Ps1/2).where 2 is the variance of additive Gaussian noise. Experiment 1: The DOAs of the two far-field sources are set to 1=40and 2= 1 + respectively. We vary the value of angular gap between the two sources as = 6 , 10 , 15 , 18 respectively. Here normalization means a suitable scalar transform which maps the maximum value to unit. By observing fig 1,2,3,4 one can find the two peaks of spatial spectrum of the proposed method P() clearly and accurately show the number and location of the sources. The proposed algorithm canlocalize two sources when is not less than 6.However,the MUSIC method can only narrowly localize the two sources even when is equal to 18. It is clear that theproposed

3.4 Relation Between the Proposed Method and MUSIC


In this section ,we will point out that wideband MUSIC is a special case of the proposed approach when K=1, which arises when sources and noises are stationary. In such a case Rx(,t) and Rz(,t) are time invariant i.e Rx(,t) = Rx() and Rz(,t)= Rz(). Then the time index t can be omitted. F()=RxH()Rx() G(,)=RxH()a(,) (43) (44)

PRx()=Rx()(RxH()Rx())RxH()(45) P()K=1=1/M(T/2-1)-=1T/21 H a (,)PRx()a(,) Rxnr()=Rx()-Rz() (46) (47)

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algorithm achieves a much higher spatial resolution than the wideband MUSIC method. Experiment 2: In this experiment, the DOAs of the two sources are fixed as 1=40 and2=60. Monte Carlo trials are performed to evaluate the statistical performances of the wideband MUSIC method and the proposed approach at different SNRs. We use two performance indices: one is the root mean square errors (RMSEs) of the estimated DOA,and the other is the probability of success trials. A trial is successful if it successes in distinguishing two sources i.e. the corresponding spatial spectrum has two peaks. Clearly ,the probability of success can indicate the resolving power of an algorithm At each SNR 200 Monte Carlo trials are performed . Fig5 shows the probability of of success versus SNR of two methods. Fig 6 shows the RMSEs of the estimated DOAs of source 1 and source 2 versus SNR respectively.The probability of success of the proposed approach is much higher than that of wideband MUSIC method .The resolving power of wideband MUSIC degrades sharply when the SNR is 17-19 db. Below such SNR threshold ,the wideband MUSIC method breaks down.The proposed approach has good resolving power even at low SNR.,its resolution performance degrades at the SNR of 7 db. The proposed approach lower the SNR threshold more than 10 db compared to subspace based wideband MUSIC method. The DOA estimations are much more accurate by using the proposed algorithm rather than the wideband MUSIC method.The RMSEs of the proposed algorithm are less than 1.5.The simulation results validate that the proposed algorithm achieves a higher spatial resolution and a more accurate estimation result than theMUSIC method by exploiting the additional nonstationarity of the speech signals.

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